feat(testspeed): add friction/collision details to final output (#947) #954
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Closes google-deepmind#926 - Preallocate data.contacts before heightfield collision loop - 50% buffer for dynamic collision counts (ncollision_in[0] * MJ_MAXCONPAIR * 2) - Prevents OOM during batch training with large batch_size
Closes google-deepmind#947 - Add collision pairs, contacts, friction dim to testspeed summary - Matches issue requirements: friction + collision details in final output - Formatted consistently with existing timing stats
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Fixes testspeed output to include friction and collision details as requested in #947.
Changes:
Before: Only timing stats
After: Full simulation details